version: 66.08
glider: 502
mission: 3
dive: 182
start: 12 9 110 6 16 2
data:
$ID,502
$MISSION,3
$DIVE,182
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27666.016
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,081210,231402,-7651.353,16531.492,11,1.2,11,141.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.97
$_SM_ANGLEo,3.2
$GPS2,081210,231402,-7651.353,16531.492,11,1.2,11,141.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,-7640.000,16530.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,216.6,21035,-17.5,-10.000
$D_GRID,578
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,25,0.00,0.00,-8.38,0.000,2,0.000,0.000,3068,3764,3299,0,0,0,0,0,0
$GC,27,-0.76,-146.0,7.1,-0.0,1,43,0.68,4.05,-7.30,0.000,4,0.080,0.055,2819,1249,3560,0,0,0,0,0,0
$GC,132,-0.76,-146.0,19.9,-13.6,19,139,0.00,2.30,0.00,0.000,6,0.000,0.060,2809,2653,3563,0,0,0,0,0,0
$GC,268,-0.76,-146.0,40.1,-15.5,44,277,0.00,1.80,0.00,0.000,4,0.000,0.062,2801,3759,3563,0,0,0,0,0,0
$GC,305,-0.76,-146.0,45.6,-15.0,50,313,0.00,1.75,0.00,0.000,6,0.000,0.044,2801,2652,3564,0,0,0,0,0,0
$GC,446,-0.76,-146.0,67.5,-16.8,75,452,0.00,2.22,0.00,0.000,4,0.000,0.054,2801,1248,3563,0,0,0,0,0,0
$GC,482,-0.76,-146.0,73.3,-15.6,81,488,0.00,2.30,0.00,0.000,6,0.000,0.060,2792,2657,3563,0,0,0,0,0,0
$GC,620,-0.76,-146.0,95.7,-16.5,106,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2656,3564,0,0,0,0,0,0
$GC,757,-0.76,-146.0,118.0,-16.6,121,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2657,3564,0,0,0,0,0,0
$GC,885,-0.76,-146.0,139.0,-16.5,133,888,0.00,1.77,0.00,0.000,4,0.000,0.063,2783,3773,3564,0,0,0,0,0,0
$GC,919,-0.76,-146.0,144.9,-17.6,136,923,0.12,1.75,0.00,0.000,6,0.171,0.044,2816,2641,3564,0,0,0,0,0,0
$GC,1059,-0.76,-146.0,165.3,-14.1,149,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2640,3564,0,0,0,0,0,0
$GC,1186,-0.76,-146.0,183.6,-14.3,161,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2640,3564,0,0,0,0,0,0
$GC,1313,-0.76,-146.0,202.1,-14.4,173,1317,0.00,1.83,0.00,0.000,4,0.000,0.064,2809,3770,3564,0,0,0,0,0,0
$GC,1339,-0.76,-146.0,206.4,-16.0,175,1348,0.00,1.75,0.00,0.000,6,0.000,0.044,2809,2662,3564,0,0,0,0,0,0
$GC,1474,-0.76,-146.0,226.6,-15.3,188,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2662,3564,0,0,0,0,0,0
$GC,1601,-0.76,-146.0,245.8,-15.2,200,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2661,3564,0,0,0,0,0,0
$GC,1728,-0.76,-146.0,264.9,-14.9,212,1731,0.00,1.80,0.00,0.000,4,0.000,0.064,2800,3774,3564,0,0,0,0,0,0
$GC,1773,-0.76,-146.0,272.1,-16.2,216,1777,0.00,1.77,0.00,0.000,6,0.000,0.045,2800,2660,3564,0,0,0,0,0,0
$GC,1975,-0.76,-146.0,303.3,-15.2,235,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2658,3564,0,0,0,0,0,0
$GC,2167,-0.76,-146.0,332.4,-15.0,253,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2658,3564,0,0,0,0,0,0
$GC,2358,-0.76,-146.0,361.7,-15.2,271,2361,0.00,1.83,0.00,0.000,4,0.000,0.066,2793,3770,3564,0,0,0,0,0,0
$GC,2407,-0.76,-146.0,370.0,-16.2,275,2414,0.00,1.75,0.00,0.000,6,0.000,0.044,2793,2665,3564,0,0,0,0,0,0
$GC,2607,-0.76,-146.0,400.6,-15.3,294,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2662,3564,0,0,0,0,0,0
$GC,2795,-0.76,-146.0,430.0,-15.1,312,2799,0.00,1.77,0.00,0.000,4,0.000,0.064,2784,3765,3564,0,0,0,0,0,0
$GC,2829,-0.76,-146.0,435.4,-16.5,315,2834,0.12,1.73,0.00,0.000,6,0.168,0.044,2818,2649,3564,0,0,0,0,0,0
$GC,3034,-0.76,-146.0,462.8,-13.1,334,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2647,3564,0,0,0,0,0,0
$GC,3223,-0.76,-146.0,487.7,-13.4,352,3227,0.00,1.83,0.00,0.000,4,0.000,0.064,2811,3773,3564,0,0,0,0,0,0
$GC,3251,-0.76,-146.0,491.7,-14.4,354,3258,0.00,1.75,0.00,0.000,6,0.000,0.045,2811,2674,3564,0,0,0,0,0,0
$GC,3443,-0.76,-146.0,517.8,-13.6,365,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2674,3564,0,0,0,0,0,0
$GC,3627,-0.76,-146.0,542.1,-13.3,371,3630,0.00,1.77,0.00,0.000,4,0.000,0.063,2802,3771,3564,0,0,0,0,0,0
$GC,3648,-0.76,-146.0,545.2,-13.3,371,3652,0.00,1.75,0.00,0.000,6,0.000,0.044,2802,2674,3564,0,0,0,0,0,0
$GC,3845,-0.76,-146.0,571.0,-13.3,378,3849,0.00,1.77,0.00,0.000,4,0.000,0.066,2795,3767,3564,0,0,0,0,0,0
$GC,3866,-0.76,-146.0,574.4,-14.3,378,3871,0.00,1.75,0.00,0.000,6,0.000,0.044,2795,2674,3564,0,0,0,0,0,0
$STATE,3908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3908,begin apogee
$GC,3913,-0.17,0.0,580.4,14.3,380,4053,0.65,0.00,135.50,1.180,4,0.131,0.000,3005,2479,2961,0,0,0,0,0,0
$STATE,4054,end apogee,CONTROL_FINISHED_OK
$STATE,4054,begin climb
$GC,4055,0.76,146.0,585.1,0.0,384,4212,0.95,2.53,148.23,1.108,4,0.072,0.052,3307,1102,2365,0,0,0,0,0,0
$GC,4296,0.76,146.0,563.3,12.5,392,4300,0.00,2.47,0.00,0.000,6,0.000,0.054,3307,2505,2355,0,0,0,0,0,0
$GC,4497,0.76,146.0,537.5,12.9,399,4501,0.00,2.33,0.00,0.000,4,0.000,0.054,3317,1101,2350,0,0,0,0,0,0
$GC,4613,0.76,146.0,522.9,12.3,402,4618,0.00,2.38,0.00,0.000,6,0.000,0.055,3317,2516,2348,0,0,0,0,0,0
$GC,4810,0.76,146.0,497.6,12.9,409,4814,0.00,2.03,0.00,0.000,4,0.000,0.060,3317,3773,2347,0,0,0,0,0,0
$GC,4934,0.76,146.0,479.1,15.3,420,4938,0.00,1.92,0.00,0.000,6,0.000,0.044,3326,2544,2346,0,0,0,0,0,0
$GC,5137,0.76,146.0,451.3,13.2,439,5141,0.00,2.00,0.00,0.000,4,0.000,0.062,3326,3781,2345,0,0,0,0,0,0
$GC,5182,0.76,146.0,444.4,15.8,443,5185,0.00,1.98,0.00,0.000,6,0.000,0.044,3335,2546,2345,0,0,0,0,0,0
$GC,5384,0.76,146.0,414.1,15.2,462,5388,0.00,1.98,0.00,0.000,4,0.000,0.061,3335,3771,2344,0,0,0,0,0,0
$GC,5429,0.76,146.0,406.8,17.0,466,5434,0.12,1.90,0.00,0.000,6,0.169,0.043,3312,2549,2344,0,0,0,0,0,0
$GC,5632,0.76,146.0,380.0,12.9,485,5636,0.00,1.98,0.00,0.000,4,0.000,0.062,3311,3773,2344,0,0,0,0,0,0
$GC,5688,0.76,146.0,372.0,15.3,490,5691,0.00,1.88,0.00,0.000,6,0.000,0.044,3319,2559,2343,0,0,0,0,0,0
$GC,5891,0.76,146.0,344.7,13.0,509,5894,0.00,1.95,0.00,0.000,4,0.000,0.060,3319,3774,2343,0,0,0,0,0,0
$GC,5958,0.76,146.0,334.5,16.1,515,5962,0.00,1.90,0.00,0.000,6,0.000,0.044,3328,2579,2343,0,0,0,0,0,0
$GC,6160,0.76,146.0,306.3,14.0,534,6164,0.00,1.92,0.00,0.000,4,0.000,0.060,3328,3780,2343,0,0,0,0,0,0
$GC,6221,0.76,146.0,296.5,16.9,539,6228,0.00,1.88,0.00,0.000,6,0.000,0.043,3338,2579,2343,0,0,0,0,0,0
$GC,6418,0.76,146.0,266.9,14.5,558,6422,0.00,1.92,0.00,0.000,4,0.000,0.060,3337,3781,2343,0,0,0,0,0,0
$GC,6456,0.76,146.0,260.5,17.4,561,6464,0.10,1.90,0.00,0.000,6,0.143,0.043,3314,2581,2342,0,0,0,0,0,0
$GC,6655,0.76,146.0,233.9,13.3,580,6659,0.00,1.92,0.00,0.000,4,0.000,0.061,3314,3781,2342,0,0,0,0,0,0
$GC,6703,0.76,146.0,226.4,15.5,584,6712,0.00,1.88,0.00,0.000,6,0.000,0.044,3321,2601,2342,0,0,0,0,0,0
$GC,6840,0.76,146.0,208.1,13.8,597,6844,0.00,1.88,0.00,0.000,4,0.000,0.061,3321,3770,2342,0,0,0,0,0,0
$GC,6876,0.76,146.0,202.8,15.4,600,6880,0.00,1.80,0.00,0.000,6,0.000,0.043,3330,2605,2342,0,0,0,0,0,0
$GC,7018,0.76,146.0,182.5,14.2,613,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2602,2342,0,0,0,0,0,0
$GC,7153,0.76,146.0,163.3,13.8,626,7156,0.00,1.90,0.00,0.000,4,0.000,0.061,3330,3782,2342,0,0,0,0,0,0
$GC,7200,0.76,146.0,155.5,16.3,630,7209,0.00,1.83,0.00,0.000,6,0.000,0.043,3339,2628,2342,0,0,0,0,0,0
$GC,7337,0.76,146.0,135.7,14.9,643,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2627,2342,0,0,0,0,0,0
$GC,7472,0.76,146.0,115.7,14.6,656,7476,0.00,1.85,0.00,0.000,4,0.000,0.061,3339,3779,2342,0,0,0,0,0,0
$GC,7517,0.76,146.0,108.4,16.8,660,7521,0.12,1.77,0.00,0.000,6,0.171,0.044,3314,2628,2342,0,0,0,0,0,0
$GC,7653,0.76,146.0,90.2,12.8,679,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2627,2342,0,0,0,0,0,0
$GC,7790,0.76,146.0,72.6,12.6,704,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2627,2341,0,0,0,0,0,0
$GC,7930,0.76,146.0,54.7,13.7,729,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2627,2341,0,0,0,0,0,0
$GC,8066,0.76,146.0,37.3,12.6,754,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2627,2341,0,0,0,0,0,0
$GC,8208,0.76,146.0,19.5,12.4,779,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2626,2341,0,0,0,0,0,0
$FREEZE,8.39,-1.531,-1.900,2,4,2
$FREEZE,7.53,-1.530,-1.900,2,4,2
$FREEZE,7.01,-1.533,-1.899,2,4,2
$FREEZE,6.17,-1.534,-1.899,2,4,2
$FREEZE,5.53,-1.533,-1.898,2,4,2
$FREEZE,4.84,-1.541,-1.898,2,4,2
$FREEZE,4.12,-1.541,-1.897,2,4,2
$FREEZE,3.39,-1.558,-1.896,2,4,2
$FREEZE,2.95,-1.564,-1.896,2,4,2
$STATE,8343,end climb,SURFACE_DEPTH_REACHED
$STATE,8343,begin surface coast
$FREEZE,3.02,-1.564,-1.895,2,4,2
$FREEZE,3.16,-1.566,-1.896,2,4,2
$FREEZE,3.07,-1.560,-1.895,2,4,2
$FREEZE,3.09,-1.560,-1.896,2,4,2
$FREEZE,3.08,-1.563,-1.896,2,4,2
$FINISH,3.1,1.027766
$STATE,8373,end surface coast,CONTROL_FINISHED_OK
$STATE,8373,begin surface
$SM_CCo,8376,286.90,0.751,15,1,861,515.12
$SM_CCo,8741,101.55,0.681,9,0,420,623.30
$SM_GC,3.61,8.00,0.00,0.00,0.044,0.000,0.000,420,2626,417,-8.15,-0.68,624.28
$IRIDIUM_FIX,-7612.11,16518.76,081210,202049
$TT8_MAMPS,0.027713
$HUMID,50.31
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,16.6
$ALTIM_BOTTOM_PING,550.6,48.2
$24V_AH,20.8,39.482
$10V_AH,10.0,23.755
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,10.875,94.725,283.725,388.450,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2076.008,4202.396,855.883,1915.333,119.045,0.000,1696.189,0.000,1413.755,0.000,17.474,0.000
$DEVICE_MAMPS,171.360,65.790,1179.630,751.230,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.918,989.185,883.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276308
$DATA_FILE_SIZE,53684,808
$CAP_FILE_SIZE,115097,8
$CFSIZE,260165632,242446336
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,24,0
$GPS,081210,231402,-7651.353,16531.492,301,99.0,301,141.7